CN105577984A - Compound MEMS-IMU electronic image stabilizing apparatus - Google Patents
Compound MEMS-IMU electronic image stabilizing apparatus Download PDFInfo
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- CN105577984A CN105577984A CN201510992472.4A CN201510992472A CN105577984A CN 105577984 A CN105577984 A CN 105577984A CN 201510992472 A CN201510992472 A CN 201510992472A CN 105577984 A CN105577984 A CN 105577984A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/14—Picture signal circuitry for video frequency region
- H04N5/21—Circuitry for suppressing or minimising disturbance, e.g. moiré or halo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/14—Picture signal circuitry for video frequency region
- H04N5/144—Movement detection
- H04N5/145—Movement estimation
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Abstract
The invention discloses a compound MEMS-IMU electronic image stabilizing apparatus. The electronic image stabilizing apparatus has a simple structure, low cost, high image stabilizing precision, high anti-interference performance, and small operation amount of image processing motion estimation. The apparatus is integrated by an image sensor reading circuit (3), a signal processor (4), an MEMS-IMU (5) and a circuit component (6). An image sensor (2) converts an optical signal from an optical lens (1) into an electrical signal, and transmits the electrical signal to the reading circuit so as to output original video image data; and the signal processor inputs inertia measurement information of the MEMS-IMU in signal processing of image electronic image stabilization, so as to merge the original video image data with inertia measurement data output by the MEMS-IMU, the motion vector of a camera is solved through MEMS-IMU information, jitter component is separated through adaptive Kalman filter, and motion compensation is performed on the original video data so as to output stable video data.
Description
Technical field
The present invention relates in image processing field a kind of by the electronic image stabilization device of MEMS-IMU and image information fusion.
Background technology
Surely be widely used in robot remote remote control system as technology, see and take aim at system, video monitoring system and image-guidance system etc., being the crucial preconditioning technique of object detecting and tracking, is the important video enhancement techniques of the indispensable one of mobile imaging system.Obtain the stable expansion of video frequency output to its follow-up work clearly significant.The operational environment of camera system is many times uncontrollable, inevitably be subject to the impact of carrier vibration, cause the shaking interference to video image instability, such as be arranged on the camera head of the motion tracking systems such as vehicle, aircraft, naval vessel, because attitude of carrier variation is subject to vibration interference, cause the image blurring unclear of shooting, when may cause target identification, produce false-alarm and false dismissal or more serious consequence; The flating that effective elimination causes because of camera head shake, can retain again its intrinsic proper motion simultaneously, and not reduce the quality of video image, be the key in video image steady picture field.The development experience of steady picture technology mechanical steady picture, photorefractive crystals and electronic steady image three megastage.Machinery similarly is surely be fixed on servo stabilized platform by video camera, and reach steady picture effect by SERVO CONTROL rotatable platform, its precision will be subject to the impact of system accuracy, and control system is complicated; Photorefractive crystals is compensated disturbance by optical element in light path, makes incident ray impinge upon on the identical position of CCD or infrared sensor, this mode to manufacturing technology require higher, complex structure and cost higher; The research of electronic image stabilizing starts from 20th century the mid-80, electronic steady image is that the technology such as set electron, computer, image recognition are in one, directly determine image sequence interframe mapping relations and the sequence image stabilization technique of new generation compensated, be intended to eliminate the random motion in video sequence.Compare with photorefractive crystals system with traditional machinery, electronic steady image system have be easy to operation, steady picture precision is high, volume is little, lightweight, energy consumption is low and the advantage such as the real-time process of high-intelligentization, utilizing electronic image stabilizing to realize Stabilization of video sequences is one of developing direction of modern steady picture technology.The embedded electronic image stabilization system of commercial camera, monitor also becomes the study hotspot of current electronic image stabilizing.
Electronic steady image system configuration is primarily of the large module composition of estimation, motion filtering and image compensation etc. three.The estimation of electronic steady image refers to that the estimation of global motion between picture frame, estimation account for more than 70% of whole steady picture process computation amount.Interframe global motion vector comprises jittering component and camera active movement component, and namely the process separated by jittering component is motion filtering.The principle of motion filtering is mainly based on two kinds of modes, and one regards shake as noise jamming, adopts low-pass FIR filter, Kalman filter etc.; Another kind is from kinematics angle analysis, and application curves matching simulates a smooth-path, as the track of camera scanning motion.Image compensation does geometric transformation according to isolated jitter motion vector to every two field picture.Pixel value in new image frame needs to be determined by gray-level interpolation, and conventional interpolation method has arest neighbors interpolation, bilinear interpolation and cube sum.
Summary of the invention
The present invention seeks to the weak point existed for prior art, there is provided a kind of structure simple, cost is low, steady picture precision is high, antijamming capability is strong, image processing motion estimates the electronic image stabilization device that operand is little, and can possess the adaptive capacity stronger than the electronic image stabilization device of routine single dependence Image Information Processing.
The object of the invention is to be achieved through the following technical solutions.The electronic image stabilization device of a kind of compound MEMS-IMU, comprise optical lens 1, imageing sensor 2, imageing sensor reading circuit 3, signal processor 4 and MEMS-IMU5, it is characterized in that: imageing sensor reads circuit 3, signal processor 4 and MEMS-IMU5 and is integrally formed circuit unit 6; The light signal of optical lens 1 incidence is converted into the signal of telecommunication by imageing sensor 2, is delivered to reading circuit 3 and exports raw video image data; Signal processor 4 is in the signal transacting of the steady picture of image electronic, incorporate the inertia measurement information of MEMS-IMU, the inertia measurement data that above-mentioned raw video image data and MEMS-IMU5 export are merged, MEMS-IMU5 information is utilized to calculate the motion vector of video camera, isolate jittering component by adaptive Kalman filter, original video data is carried out to the video data of motion compensation stable output.
The present invention has following beneficial effect compared to prior art:
Structure is simple, and cost is low.Reading circuit 3, signal processor 4 and MEMS-IMU5 are integrally formed with circuit unit 6 by the present invention, structure is simple, and optical lens 1, imageing sensor 2 and circuit unit 6 are assembled into overall firmware, be arranged on the inner frame of video camera 9, guarantee that imageing sensor 2 and MEMS-IMU5 can keep fixing coordinate annexation, the compound MEMS-IMU electronic image stabilization device cost formed is low.By the information fusion of MEMS-IMU and this two classes Heterogeneous Sensor of image, possess dependence more single than routine and rely on the disposal ability that the steady picture device of the steady picture of image information or mechanical steady picture is stronger, effectively can solve the simple technical barrier such as the depth of field, rotation, deviation accumulation being difficult to overcome by image information; Efficiently solve single machinery surely as the problem such as control system complexity, complex structure, high cost that device faces simultaneously.
Steady picture precision is high, and antijamming capability is strong.The light signal of optical lens 1 incidence is converted into the signal of telecommunication by imageing sensor 2 of the present invention, is delivered to reading circuit 3 and exports raw video image data; Reduce image-processing operations amount and error by MEMS-IMU and image information fusion, improve lasting accuracy and antijamming capability.Because the inertia measurement intelligence sample speed of MEMS-IMU is far above image information data, incorporates the inertia measurement information of MEMS-IMU in the signal transacting of the therefore steady picture of image, the turnover rate of data can not only be improved, be more conducive to improving steady picture precision.Merged by the heterogeneous information of image and MEMS-IMU Inertia information, realize the mutual supplement with each other's advantages of two kinds of image stabilization formulas, more high-quality, more stable steady picture effect can be obtained.
Image processing motion estimates that operand is little.The inertia measurement information of the MEMS-IMU that signal processor 4 of the present invention incorporates in the signal transacting of the steady picture of image electronic, MEMS-IMU information is utilized to calculate the motion vector of video camera, jittering component is isolated by adaptive Kalman filter, original video data is carried out to the video data of motion compensation stable output, the operand that image processing motion is estimated can be reduced, and improve the precision of motion vector estimation, the calculation resources of saving can be used for motion filtering and image compensation, reach the object reducing image information and mass loss, improve stability and the antijamming capability of steady picture.
Accompanying drawing explanation
Figure below further illustrates the present invention in conjunction with the accompanying drawings and embodiments, but does not therefore limit the present invention among affiliated scope of embodiments.
Fig. 1 is the theory of constitution schematic diagram of the electronic image stabilization device of compound MEMS-IMU of the present invention.
Fig. 2 is that each component signals of Fig. 1 flows to schematic diagram.
Fig. 3 is the component relationship schematic diagram of first embodiment of the present invention.
Fig. 4 is the component relationship schematic diagram of second embodiment of the present invention.
In figure: 1 optical lens; 2 imageing sensors; 3 imageing sensors read circuit; 4 signal processors; 5MEMS-IMU; 6 circuit units; 7 video cameras; 8 can by light zoom lens; 9 large face battle array Visible-light CCD/cmos image sensors; 10 large face battle array Visible-light CCD/cmos image sensor reading circuits; 11 infrared tight shots; 12 non-refrigeration infrared image sensors; 13 infrared reading circuits.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
Consult Fig. 1, Fig. 2.In embodiment described below, the electronic image stabilization device of compound MEMS-IMU is made up of optical lens 1, imageing sensor 2, imageing sensor reading circuit 3, signal processor 4 and MEMS-IMU5 and camera structure framework 7.Wherein, optical lens 1, imageing sensor 2 and circuit unit 6 are assembled into overall firmware, are arranged on the inner frame of video camera 7, guarantee that imageing sensor 2 and MEMS-IMU5 can keep fixing coordinate annexation.In the course of work, the light signal of incidence is converted into the signal of telecommunication by imageing sensor 2, is delivered to visible light image sensor reading circuit 3, and transform electrical signals is the raw video image data exported by this output circuit; The inertia measurement data of raw video image data and MEMS-IMU are delivered to signal processor 4, signal processor 4 is in the signal transacting of the steady picture of image electronic, incorporate the inertia measurement information of MEMS-IMU, the inertia measurement data that above-mentioned raw video image data and MEMS-IMU5 export are merged.Signal processor 4 utilizes MEMS-IMU information to calculate the motion vector of video camera, isolates jittering component by adaptive Kalman filter, original video data is carried out to the video data of motion compensation stable output.Optical lens 1 can be visible light zoom lens 8 or infrared tight shot 11, imageing sensor can be large face battle array Visible-light CCD/COMS imageing sensor 9 or non-refrigeration infrared image sensor 12, it can be that large face battle array Visible-light CCD/COMS imageing sensor reads circuit 10 or infrared reading circuit 13 that imageing sensor reads circuit 3, wherein visible light zoom lens 8 or infrared tight shot 11 large battle array Visible-light CCD/COMS imageing sensor 9 in sequential series or non-refrigeration infrared image sensor 12, large face battle array Visible-light CCD/COMS imageing sensor reads circuit 10 or infrared reading circuit 13 and signal processor 4, be arranged on the inner frame of video camera 7, align with large face battle array Visible-light CCD/COMS imageing sensor 9 or non-refrigeration infrared image sensor 12 center and read circuit 10 with large face battle array Visible-light CCD/COMS imageing sensor or infrared reading circuit 13 connects the electronic image stabilization device that signal processor 4 forms compound MEMS-IMU in the center of MEMS-IMU5.
In embodiment illustrated in fig. 31, the electronic image stabilization device of compound MEMS-IMU reads circuit 10 by visible light zoom lens 8, large face battle array Visible-light CCD/COMS imageing sensor 9, large face battle array Visible-light CCD/COMS imageing sensor, and large face battle array Visible-light CCD/COMS imageing sensor reading circuit 10, signal processor 4 and MEMS-IMU5 and camera structure framework 7 are formed.Visible light zoom lens 8, CCD/COMS imageing sensor 9 and MEMS-IMU5 are assembled into overall firmware, guarantee that CCD/COMS imageing sensor 9 and MEMS-IMU5 can keep fixing coordinate annexation.In the course of work, the light signal of incidence is converted into the signal of telecommunication by CCD/COMS imageing sensor 9, is delivered to large face battle array Visible-light CCD/COMS imageing sensor and reads circuit 10, and transform electrical signals is the raw video image data exported by this output circuit; The inertia measurement data of raw video image data and MEMS-IMU are delivered to signal processor 4, the inertia measurement data that above-mentioned raw video image data and MEMS-IMU5 export merge by signal processor 4, MEMS-IMU information is utilized to calculate the motion vector of video camera, jittering component is isolated by adaptive Kalman filter, bilinear interpolation method is adopted to carry out motion compensation to original video data, the video data of final stable output.
In embodiment illustrated in fig. 42, the electronic image stabilization device of compound MEMS-IMU is by infrared tight shot 11, non-refrigeration infrared image sensor 12, infrared reading circuit 13, and signal processor 4 and MEMS-IMU5 and camera structure framework 7 are formed.Infrared tight shot 11 non-refrigeration infrared image sensor 12 in sequential series, infrared reading circuit 13 and signal processor 4, be arranged on the inner frame of video camera 7, MEMS-IMU5 to be positioned at above infrared reading circuit 13 and to connect the electronic image stabilization device that signal processor 4 forms compound MEMS-IMU.
Non-brake method imageing sensor 12 and MEMS-IMU5 are assembled into overall firmware, guarantee that non-brake method imageing sensor 12 and MEMS-IMU5 can keep fixing coordinate annexation.In the course of work, the light signal of incidence is converted into the signal of telecommunication by non-brake method imageing sensor 12, is delivered to infrared reading circuit 13, and transform electrical signals is that the raw video image data exported are delivered to signal processor 4 by this output circuit; The inertia measurement data of MEMS-IMU are delivered to signal processor 4 simultaneously, the inertia measurement data that above-mentioned raw video image data and MEMS-IMU5 export merge by signal processor 4, MEMS-IMU information is utilized to calculate the motion vector of video camera, isolate jittering component by adaptive Kalman filter, adopt bilinear interpolation method original video data to be carried out to the video data of motion compensation stable output.
Claims (10)
1. the electronic image stabilization device of a compound MEMS-IMU, comprise: optical lens (1), imageing sensor (2), imageing sensor read circuit (3), signal processor (4) and MEMS-IMU (5), it is characterized in that: imageing sensor reads circuit (3), signal processor (4) and MEMS-IMU (5) and is integrally formed circuit unit (6); The light signal of optical lens 1 incidence is converted into the signal of telecommunication by imageing sensor (2), is delivered to reading circuit (3) and exports raw video image data; Signal processor (4) is in the signal transacting of the steady picture of image electronic, incorporate the inertia measurement information of MEMS-IMU, the inertia measurement data that above-mentioned raw video image data and MEMS-IMU (5) export are merged, MEMS-IMU (5) information is utilized to calculate the motion vector of video camera, isolate jittering component by adaptive Kalman filter, original video data is carried out to the video data of motion compensation stable output.
2. the electronic image stabilization device of compound MEMS-IMU as claimed in claim 1, it is characterized in that: optical lens (1), imageing sensor (2) and circuit unit (6) are assembled into overall firmware, be arranged on the inner frame of video camera (7), guarantee that imageing sensor (2) and MEMS-IMU (5) can keep fixing coordinate annexation.
3. the electronic image stabilization device of compound MEMS-IMU as claimed in claim 1, it is characterized in that: signal processor (4) utilizes MEMS-IMU information to calculate the motion vector of video camera, isolate jittering component by adaptive Kalman filter, original video data is carried out to the video data of motion compensation stable output.
4. the electronic image stabilization device of compound MEMS-IMU as claimed in claim 1, is characterized in that: the electronic image stabilization device of described compound MEMS-IMU is made up of visible light zoom lens (8), large face battle array Visible-light CCD/COMS imageing sensor (9), large face battle array Visible-light CCD/COMS imageing sensor reading circuit (10), signal processor (4) and MEMS-IMU (5) and camera structure framework (7).
5. the electronic image stabilization device of compound MEMS-IMU as claimed in claim 4, it is characterized in that: visible light zoom lens (8) large battle array Visible-light CCD/COMS imageing sensor (9) in sequential series, large face battle array Visible-light CCD/COMS imageing sensor reads circuit (10) and signal processor (4), be arranged on the inner frame of video camera (7), align with large face battle array Visible-light CCD/COMS imageing sensor (9) center and read circuit (10) with large face battle array Visible-light CCD/COMS imageing sensor and connect the electronic image stabilization device that signal processor (4) forms compound MEMS-IMU in the center of MEMS-IMU (5).
6. the electronic image stabilization device of compound MEMS-IMU as claimed in claim 4, it is characterized in that: visible light zoom lens (8), CCD/COMS imageing sensor (9) and MEMS-IMU (5) are assembled into overall firmware, guarantee that CCD/COMS imageing sensor (9) and MEMS-IMU (5) can keep fixing coordinate annexation.
7. the electronic image stabilization device of compound MEMS-IMU as claimed in claim 4, it is characterized in that: in the course of work, the light signal of incidence is converted into the signal of telecommunication by CCD/COMS imageing sensor (9), is delivered to large face battle array Visible-light CCD/COMS imageing sensor and reads the raw video image data that transform electrical signals is output by circuit (10).
8. the electronic image stabilization device of compound MEMS-IMU as claimed in claim 1, it is characterized in that: the electronic image stabilization device of compound MEMS-IMU is by infrared tight shot (11), non-refrigeration infrared image sensor (12), infrared reading circuit (13), signal processor (4) and MEMS-IMU (5) and camera structure framework (7) are formed.
9. the electronic image stabilization device of compound MEMS-IMU as claimed in claim 8, it is characterized in that: non-brake method imageing sensor (12) and MEMS-IMU (5) are assembled into overall firmware, guarantee that non-brake method imageing sensor (12) and MEMS-IMU (5) can keep fixing coordinate annexation.
10. the electronic image stabilization device of the compound MEMS-IMU as described in claim 4 or 8, it is characterized in that: visible light zoom lens (8) or infrared tight shot (11) CCD/COMS imageing sensor (9) in sequential series or non-refrigeration infrared image sensor (12), large face battle array Visible-light CCD/COMS imageing sensor reads circuit (10) or infrared reading circuit (13) and signal processor (4), be arranged on the inner frame of video camera (7), align with large face battle array Visible-light CCD/COMS imageing sensor (9) or non-refrigeration infrared image sensor (12) center and read circuit (10) with large face battle array Visible-light CCD/COMS imageing sensor or infrared reading circuit (13) connects the electronic image stabilization device that signal processor (4) forms compound MEMS-IMU in the center of MEMS-IMU (5).
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Application publication date: 20160511 |